Oh yes, completely. Our society is very relationship-centric in that department. I do contact improvisation which involves a lot of everything you said up here and it was a huge game changer for me when I started doing it. Kept getting hung up on the false idea that only lovers should touch or hug or look into each other's eyes like that. It's the best thing in the world and hugely therapeutic. I think it also strengthens you as a person, letting yourself be seen and touched and experienced without necessarily reducing it to sex.
Touch is definitely ok :)
Looooooove contact improvisation 😍
Big hug!